Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Predictive Control of Bilateral Teleoperation with Short Time Delay

시간 지연이 있는 양방향 원격제어 시스템의 예측 제어

  • 임흥재 (포항공과대학교 기계학과) ;
  • 정완균 (포항공과대학교 기계학과) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부)
  • Published : 2000.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

Keywords

References

  1. R. J. Anderson and M. W. Spong, 'Bilateral control of teleoperators with time delay,' IEEE Trans. on Robotics and Automation, vol. 34, no. 5, pp. 494-501, 1989 https://doi.org/10.1109/9.24201
  2. Y. Yokokohji and T. Yoshikawa, 'Bilateral control of master-slave manipulators for idea kinesthetic coupling-formulation and experiment,' IEEE Trans. on Robotics and Automation, vol. 10, no. 5, pp. 605-620, 1994 https://doi.org/10.1109/70.326566
  3. D.A. Lawrence, 'Stability and transparency in bilateral teleoperation,' IEEE Trans. on Robotics and Automation, vol. 9, no. 5, pp. 624-637, October, 1993 https://doi.org/10.1109/70.258054
  4. B. Hannaford, 'A design frame work for teleoperators with kinesthetic feedback,' IEEE Trans. on Robotics and Automation, vol. 5, no. 4, pp. 426-434, 1989 https://doi.org/10.1109/70.88057
  5. G. M. H. Leung, B. A. Francis, and J. Apkarian, 'Bilateral controller for teleoperators with time delay $via{\mu}$-synthesis,' IEEE Trans. on Robotics and Automation, vol. 11, no. 1, pp. 105-116, February, 1995 https://doi.org/10.1109/70.345941
  6. A. Eusebi and C. Melchiorri, 'Force reflecting telemanipulators with time - delay : stability analysis and control design,' IEEE Trans. on Robotics and Automation, vol. 14, no. 4, pp. 635-640, August, 1998 https://doi.org/10.1109/70.704237
  7. W. S. Kim, B. Hannaford and A. K. Bejczy, 'Force reflection and shared compliant control in operating telemanipulators with time delay,' IEEE Trans. on Robotics and Automation, vol. 8, no. 2, pp. 176-185, April, 1992 https://doi.org/10.1109/70.134272
  8. H. S. Lee, 'Robust motion controller design for high-accuracy positioning systems,' IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 48-55, 1996 https://doi.org/10.1109/41.481407